The Performance Improvement of a Low Cost GPS/INS Integration System Using a Single-Antenna GPS Based Attitudes

A. Cho, H. No, C. Kee

Abstract:	Inertial navigation system and GPS have complementary characteristics to overcome each other’s limitations. Due to these complementary properties, INS and GPS are integrated to get more reliable and accurate navigation solutions. In the general GPS/INS integrated navigation system, position and velocity measurements or raw measurements of GPS receiver are used during measurement update phase of Kalman filter. In addition to measurements corresponding to position and velocity, aircraft attitudes can be obtained from velocity measurements of a single-antenna GPS receiver by assuming a coordinated flight using a simple point mass aircraft model. This paper presents the method to apply this additional attitude information to general GPS/INS integrated system as an attitude measurement. Although there is a discrepancy between single-antenna GPS based attitude and true attitude due to some assumptions, this problem is solved by setting appropriate measurement noise covariance. Monte Carlo simulation results shows that proposed method improves the performance of GPS/INS integrated navigation solution including attitude components. Initial convergence time of attitudes decreased by about one-half and the accuracy of integrated solutions was improved after convergence. It is expected that this performance can be improved more by filter tuning. Proposed method is very practical and effective approach because it can be easily integrated to general GPS/INS integration system without additional equipments and algorithm modification.
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	1498 - 1504
Cite this article:	Cho, A., No, H., Kee, C., "The Performance Improvement of a Low Cost GPS/INS Integration System Using a Single-Antenna GPS Based Attitudes," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 1498-1504.
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